直立二足歩行モデルにおける柔軟体幹の捻りと腕振りの効果

抄録

Bipedal walking requires a whole body behavior including an upper body as well as a lower body. This study refers a human upper body for upright bipedal walking is constructed. We observe effects of passive twisting trunk by swinging arm on the locomotion. Simulation results show that the walking behavior, walking distance in this paper, is changed according to the amplitude of swinging arm, and well-tuned amplitude prevents fluctuation toward traveling direction.